Automated control method for lifting of radar antenna system

Abstract

Disclosed in the present invention is an automated control method for lifting of a radar antenna system. The method comprises: according to the length of a radar antenna, dividing the radar antenna into a plurality of antenna segments; installing sensing devices on the antenna segments for acquiring real-time state information of the antenna segments in real time and sending the acquired real-time state information of the antenna segments to a control system; the control system generating a lifting instruction in real time on the basis of the received real-time state information of the antenna segments, synchronously and automatically adjusting lifting attitudes according to the lifting instruction, and synchronously completing lifting operations of the plurality of antenna segments; finishing preliminary assembly; and the control system generating a final state lifting instruction, adjusting the attitudes of the plurality of the antenna segments after preliminary assembly, anchoring the plurality of antenna segments, and completing installation of the whole antenna. The present invention achieves automatic leveling and rapid assembly and mounting of the antenna, and achieves automatic lifting of the radar antenna system.

Description

Automated control method for hoisting radar antenna systems Technical Field

[0001] This invention relates to the field of fire-fighting equipment technology. More specifically, this invention relates to an automated control method for the hoisting of a radar antenna system. Background Technology

[0002] With the rapid development of radar technology, radar antenna systems are evolving towards higher functional integration and thinner, lighter structures. Antenna arrays are also becoming increasingly larger in diameter, which in turn increases the difficulty and risk of hoisting operations. Traditional hoisting methods rely heavily on manual operation and vertical or horizontal fixtures, resulting in low precision, low efficiency, and significant safety risks. Therefore, achieving automated control of radar antenna system hoisting has become an urgent problem to be solved.

[0003] Summary of the Invention

[0004] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0005] Another objective of this invention is to provide an automated control method for the hoisting of a radar antenna system.

[0006] To achieve these objectives and other advantages of the present invention, the following technical solution is provided:

[0007] The automated control method for hoisting radar antenna systems includes:

[0008] The radar antenna is divided into several antenna segments according to its length.

[0009] The hoisting equipment is arranged, and the hoisting equipment has a hoisting device capable of simultaneously hoisting the plurality of antenna segments;

[0010] A sensing device is installed on the antenna segment to acquire real-time status information of the antenna segment and send the acquired real-time status information of the antenna segment to the control system.

[0011] The control system generates hoisting commands in real time based on the received real-time status information of the antenna segment.

[0012] The control system sends the hoisting command to the hoisting equipment;

[0013] According to the hoisting command, the hoisting equipment automatically adjusts the hoisting posture of several hoisting devices simultaneously and completes the hoisting operation of several antenna segments.

[0014] Several antenna segments were initially spliced ​​together;

[0015] The control system receives real-time status information of the antenna segment transmitted from the sensing device, combines it with preset final hoisting parameters of the radar antenna, generates a final hoisting command for the antenna, and sends it to the hoisting equipment.

[0016] According to the final hoisting command, the hoisting equipment adjusts the attitude of several antenna segments after initial splicing, anchors several antenna segments, and completes the installation of the entire antenna.

[0017] Preferably, the automated control method for hoisting the radar antenna system further includes:

[0018] The laser rangefinder is mounted on the antenna segment located in the middle of the entire antenna.

[0019] Preferably, in the automated control method for hoisting the radar antenna system, the sensing device includes a visual sensor, and the visual sensor is installed on the antenna segments at both ends of the entire antenna. Each visual sensor includes:

[0020] A frustum, one end of which is fixed to the antenna section;

[0021] Several cameras are arranged at the other end of the truncated cone, and the several cameras are arranged symmetrically at the other end of the truncated cone.

[0022] A microprocessor is located at the center of the other end of the truncated cone. The processor is communicatively connected to the plurality of cameras. The microprocessor is used to receive images captured by the plurality of cameras and calculate the distance between the target position and its current antenna segment based on the images.

[0023] The laser rangefinder coarsely measures the distance in the first horizontal direction during the installation of the antenna segment and transmits this data to the control system.

[0024] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data to the control system. The second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane containing the first and second horizontal directions.

[0025] The control system generates the hoisting command based on the transmitted distance data;

[0026] The laser rangefinder then accurately measures the distance in the first horizontal direction during antenna segment installation and transmits the data back to the control system.

[0027] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data back to the control system.

[0028] The control system generates the final hoisting command based on the transmitted distance data and the preset final hoisting parameters of the radar antenna.

[0029] Preferably, in the automated control method for hoisting the radar antenna system, the sensing device includes an angle sensor and a force sensor, and each antenna segment is equipped with an angle sensor and a force sensor.

[0030] Preferably, in the automated control method for hoisting the radar antenna system, the hoisting equipment includes multiple hoisting devices, and each hoisting device is configured in a one-to-one correspondence with an antenna segment.

[0031] Preferably, in the automated control method for hoisting the radar antenna system, the hoisting command can be generated multiple times.

[0032] The present invention has at least the following beneficial effects:

[0033] During construction, the antenna is assembled by segmenting and hoisting it synchronously. This saves the trouble of using large equipment for antenna installation. In addition, during the hoisting process, the sensor and control system communicate in real time to generate hoisting instructions. The antenna is then hoisted according to these instructions, which enables automatic leveling and rapid splicing and installation of the antenna, thus realizing the automated hoisting of the radar antenna system.

[0034] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Detailed Implementation

[0035] The present invention will now be described in further detail so that those skilled in the art can implement it based on the description.

[0036] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positional relationships based on the shown orientations or positional relationships, and are only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0038] This invention provides an automated control method for the hoisting of a radar antenna system, comprising:

[0039] The radar antenna is divided into several antenna segments according to its length.

[0040] The hoisting equipment is arranged, and the hoisting equipment has a hoisting device capable of simultaneously hoisting the plurality of antenna segments;

[0041] A sensing device is installed on the antenna segment to acquire real-time status information of the antenna segment and send the acquired real-time status information of the antenna segment to the control system.

[0042] The control system generates hoisting commands in real time based on the received real-time status information of the antenna segment.

[0043] The control system sends the hoisting command to the hoisting equipment;

[0044] According to the hoisting command, the hoisting equipment automatically adjusts the hoisting posture of several hoisting devices simultaneously and completes the hoisting operation of several antenna segments, hoisting each antenna segment to the required height;

[0045] Several antenna segments were initially spliced ​​together;

[0046] The control system receives real-time status information of the antenna segment transmitted from the sensing device, combines it with preset final hoisting parameters of the radar antenna, generates a final hoisting command for the antenna, and sends it to the hoisting equipment.

[0047] According to the final hoisting command, the hoisting equipment adjusts the attitude of several antenna segments after initial splicing, anchors several antenna segments, and completes the installation of the entire antenna.

[0048] The radar antenna is quite long. If the entire radar antenna is assembled on the ground before hoisting, the weight of the radar antenna would be too great, making hoisting difficult. Therefore, in this invention, the radar antenna can be divided into several continuous antenna segments according to the on-site construction conditions, such as the load of the hoisting equipment, the elevation angle of the crane arm, the arm length, and the required operating height. A corresponding sensing device is installed on each antenna segment. Then, multiple antenna segments are hoisted simultaneously using hoisting equipment. When each antenna segment reaches the required height, its height, tilt angle, and distance from other segments are obtained based on data transmitted from its sensing devices. Adjacent antenna segments are then assembled together. The lowest antenna segment is fixed to an antenna mount or other fixed device, and the lower end of the highest antenna segment is assembled with the upper end of the next highest antenna segment below it, completing the initial assembly. During construction, the antenna is assembled by segmenting and hoisting it synchronously. This saves the trouble of using large equipment for antenna installation. In addition, during the hoisting process, the sensor and control system communicate in real time to generate hoisting instructions. The antenna is then hoisted according to these instructions, which enables automatic leveling and rapid splicing and installation of the antenna, thus realizing the automated hoisting of the radar antenna system.

[0049] In the above scheme, as a preferred option, it also includes:

[0050] A laser rangefinder is installed on the antenna segment located in the middle of the entire antenna. It is used to measure distances during the hoisting of the antenna segment.

[0051] In the above scheme, preferably, the sensing device includes a visual sensor, and the visual sensor is provided on the antenna segments at both ends of the entire antenna. Each visual sensor includes:

[0052] A frustum, one end of which is fixed to the antenna section;

[0053] Several cameras are arranged at the other end of the truncated cone, and the several cameras are arranged symmetrically at the other end of the truncated cone.

[0054] A microprocessor is located at the center of the other end of the truncated cone. The processor is communicatively connected to the plurality of cameras. The microprocessor is used to receive images captured by the plurality of cameras and calculate the distance between the target position and its current antenna segment based on the images.

[0055] The laser rangefinder coarsely measures the distance in the first horizontal direction during the installation of the antenna segment and transmits this data to the control system.

[0056] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data to the control system. The second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane containing the first and second horizontal directions.

[0057] The control system generates the hoisting command based on the transmitted distance data;

[0058] The laser rangefinder then accurately measures the distance in the first horizontal direction during antenna segment installation and transmits the data back to the control system.

[0059] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data back to the control system.

[0060] The control system generates the final hoisting command based on the transmitted distance data and the preset final hoisting parameters of the radar antenna.

[0061] The visual sensor of this invention is equipped with multiple cameras, enabling it to acquire depth visual images from multiple angles to complete distance measurement. Although the device structure is simple, the distance measurement is accurate. By cooperating with a laser rangefinder, it can automatically and quickly complete distance measurement and automatically measure, splice, and level the middle and end antenna segments, achieving rapid antenna installation.

[0062] In the above scheme, as a preferred embodiment, the sensing device includes an angle sensor and a force sensor, and each antenna segment is provided with an angle sensor and a force sensor, which are used to measure the tilt angle of the antenna segment and the force it is subjected to during hoisting, respectively.

[0063] In one embodiment of the present invention, preferably, the hoisting equipment includes multiple hoisting devices, each corresponding to one of the antenna segments. This avoids the need for large lifting equipment and reduces the requirements for installation equipment.

[0064] In one embodiment of the present invention, preferably, the hoisting command can be generated multiple times. Hoisting commands can be generated multiple times in real time based on the real-time status of each antenna segment to automatically and quickly complete the hoisting of the radar antenna system.

[0065] To enable those skilled in the art to better understand the technical solution of the present invention, the following embodiments are provided for illustration:

[0066] An automated control method for hoisting a radar antenna system includes:

[0067] The radar antenna is divided into several antenna segments according to its length.

[0068] The hoisting equipment is arranged, and the hoisting equipment has a hoisting device capable of simultaneously hoisting the plurality of antenna segments;

[0069] A sensing device is installed on the antenna segment to acquire real-time status information of the antenna segment and send the acquired real-time status information of the antenna segment to the control system.

[0070] The control system generates hoisting commands in real time based on the received real-time status information of the antenna segment.

[0071] The control system sends the hoisting command to the hoisting equipment;

[0072] According to the hoisting command, the hoisting equipment automatically adjusts the hoisting posture of several hoisting devices simultaneously and completes the hoisting operation of several antenna segments.

[0073] Several antenna segments were initially spliced ​​together;

[0074] The control system receives real-time status information of the antenna segment transmitted from the sensing device, combines it with preset final hoisting parameters of the radar antenna, generates a final hoisting command for the antenna, and sends it to the hoisting equipment.

[0075] According to the final hoisting command, the hoisting equipment adjusts the attitude of several antenna segments after initial splicing, anchors several antenna segments, and completes the installation of the entire antenna.

[0076] The laser rangefinder is mounted on the antenna segment located in the middle of the entire antenna. The remaining antenna segment, excluding those at either end of the antenna's length, can be considered the middle segment.

[0077] The sensing device includes visual sensors, which are installed on antenna segments at both ends of the antenna. Each visual sensor includes:

[0078] A frustum, one end of which is fixed to the antenna section;

[0079] Several cameras are arranged at the other end of the truncated cone, and the several cameras are arranged symmetrically at the other end of the truncated cone.

[0080] A microprocessor is located at the center of the other end of the truncated cone. The processor is communicatively connected to the plurality of cameras. The microprocessor is used to receive images captured by the plurality of cameras and calculate the distance between the target position and its current antenna segment based on the images.

[0081] The laser rangefinder coarsely measures the distance in the first horizontal direction during the installation of the antenna segment and transmits this data to the control system.

[0082] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data to the control system. The second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane containing the first and second horizontal directions.

[0083] The control system generates the hoisting command based on the transmitted distance data; the hoisting command can be generated multiple times.

[0084] The laser rangefinder then accurately measures the distance in the first horizontal direction during antenna segment installation and transmits the data back to the control system.

[0085] The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data back to the control system.

[0086] The control system generates the final hoisting command based on the transmitted distance data and the preset final hoisting parameters of the radar antenna.

[0087] The sensing device includes an angle sensor and a force sensor, and each antenna segment is equipped with an angle sensor and a force sensor.

[0088] The hoisting equipment includes multiple hoisting devices, each corresponding to one of the antenna segments.

[0089] In this invention, the radar antenna can be divided into several continuous antenna segments according to on-site construction conditions, such as the load of the hoisting equipment, the elevation angle of the crane boom, the boom length, and the required operating height. A corresponding sensing device is installed on each antenna segment. Then, multiple antenna segments are hoisted simultaneously using hoisting equipment. When each antenna segment reaches the required height, its height, tilt angle, and distance from other segments are obtained based on data transmitted from its sensing devices. Adjacent antenna segments are assembled together. The lowest antenna segment is fixed to an antenna mount or other fixed device, and the lower end of the highest antenna segment is assembled with the upper end of the next highest antenna segment below it, completing the initial assembly. The initial assembly of each antenna segment is not completely secure. According to the final hoisting command, the attitude of the initially assembled antenna segments is adjusted, and the antenna segments are anchored to ensure complete stability, thus completing the installation of the entire antenna.

[0090] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0091] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details.

Claims

1. An automated control method for hoisting a radar antenna system, characterized in that, include: The radar antenna is divided into several antenna segments according to its length. The hoisting equipment is arranged, and the hoisting equipment has a hoisting device capable of simultaneously hoisting the plurality of antenna segments; A sensing device is installed on the antenna segment to acquire real-time status information of the antenna segment and send the acquired real-time status information of the antenna segment to the control system. The control system generates hoisting commands in real time based on the received real-time status information of the antenna segment. The control system sends the hoisting command to the hoisting equipment; According to the hoisting command, the hoisting equipment automatically adjusts its hoisting posture and simultaneously completes the hoisting operation of several antenna segments. Several antenna segments were initially spliced ​​together; Subsequently, the control system receives real-time status information of the antenna segment transmitted from the sensing device, combines it with preset final hoisting parameters of the radar antenna, generates a final hoisting command for the antenna, and sends it to the hoisting equipment. According to the final hoisting command, the hoisting equipment adjusts the attitude of several antenna segments after initial splicing, anchors several antenna segments, and completes the installation of the entire antenna.

2. The automated control method for hoisting a radar antenna system as described in claim 1, characterized in that, Also includes: The laser rangefinder is mounted on the antenna segment located in the middle of the entire antenna.

3. The automated control method for hoisting a radar antenna system as described in claim 2, characterized in that, The sensing device includes visual sensors, which are installed on antenna segments at both ends of the antenna. Each visual sensor includes: A frustum, one end of which is fixed to the antenna section; Several cameras are arranged at the other end of the truncated cone, and the cameras are arranged symmetrically at the other end of the truncated cone. A microprocessor is located at the center of the other end of the truncated cone. The processor is communicatively connected to the plurality of cameras. The microprocessor is used to receive images captured by the plurality of cameras and calculate the distance between the target position and its current antenna segment based on the images. The laser rangefinder coarsely measures the distance in the first horizontal direction during the installation of the antenna segment and transmits the data to the control system. The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data to the control system. The second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane containing the first and second horizontal directions. The control system generates the hoisting command based on the transmitted distance data; The laser rangefinder then accurately measures the distance in the first horizontal direction during antenna segment installation and transmits the data back to the control system. The visual sensor accurately measures the distances in the second horizontal and vertical directions during antenna segment installation and transmits the data back to the control system. The control system generates the final hoisting command based on the transmitted distance data and the preset final hoisting parameters of the radar antenna.

4. The automated control method for hoisting a radar antenna system as described in claim 1, characterized in that, The sensing device includes an angle sensor and a force sensor, and each antenna segment is equipped with an angle sensor and a force sensor.

5. The automated control method for hoisting a radar antenna system as described in claim 1, characterized in that, The hoisting equipment includes multiple hoisting devices, each corresponding to one of the antenna segments.

6. The automated control method for hoisting a radar antenna system as described in claim 3, characterized in that, The hoisting command can be generated multiple times.